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A study on the algorithms for accelerating human motor learning under human-robot cooperative motor learning system

Research Project

Project/Area Number 20H02111
Research Category

Grant-in-Aid for Scientific Research (B)

Allocation TypeSingle-year Grants
Section一般
Review Section Basic Section 20020:Robotics and intelligent system-related
Research InstitutionTokyo University of Agriculture and Technology

Principal Investigator

Kondo Toshiyuki  東京農工大学, 工学(系)研究科(研究院), 教授 (60323820)

Project Period (FY) 2020-04-01 – 2023-03-31
Project Status Completed (Fiscal Year 2022)
Budget Amount *help
¥18,070,000 (Direct Cost: ¥13,900,000、Indirect Cost: ¥4,170,000)
Fiscal Year 2022: ¥3,510,000 (Direct Cost: ¥2,700,000、Indirect Cost: ¥810,000)
Fiscal Year 2021: ¥3,250,000 (Direct Cost: ¥2,500,000、Indirect Cost: ¥750,000)
Fiscal Year 2020: ¥11,310,000 (Direct Cost: ¥8,700,000、Indirect Cost: ¥2,610,000)
Keywords協調運動学習 / 動的機能結合解析 / リハビリ / VR / 脳機能計測 / ロボット / 適応性 / 汎化性 / 協調運動 / 汎化
Outline of Research at the Start

本研究計画では,ヒトがロボットと協調して運動学習を行う過程で運動技能を獲得・改善していくことを暗黙的に支援するロボット用エージェントプログラムを構築することを目的とする.また,学習者の運動学習への取り組み状態に応じた支援レベルの調節を実現するため,協調運動学習下の学習者の脳状態を,脳波の位相同期特徴量の機能的結合解析により異なる学習モードとして類別化する方法についても検討する.

Outline of Final Research Achievements

In this study, we developed four robotic agents, which could manipulate cooperative motor learning, and compared the effect of their intervening strategies (i.e., novice, expert, level-up, and skill-level-adjustment agents) on individual motor performance. The result suggests that the novice agent realizes significantly higher posterior motor performance than the expert agent. Moreover, we found that skill-level adjust agent, which grows with the subject's motor skill level, is able to provide even better motor support than the others. We also proposed a dynamic functional connectivity analysis method that combines tensor decomposition and TVGL methods. We applied the method to sleep EEG, --- the brain states are medically labeled ---, and verified the validity.

Academic Significance and Societal Importance of the Research Achievements

本研究では、ヒトとロボットの協調運動学習を対象に、ロボットエージェントの制御アルゴリズムを4種類(初心者、熟練者、レベル調節、固定成長)考案し、被験者実験を行った。実験の結果、被験者の運動技能レベルにあわせてともに成長するレベル調節エージェントが最良であることが示された。ロボットリハビリテーションにおける最適な支援の量は患者ごとに異なり、また患者の機能改善とともに変化すると考えられることから、本研究の成果は、将来のロボットリハビリテーション開発にとって有益と考えられる。

Report

(4 results)
  • 2022 Annual Research Report   Final Research Report ( PDF )
  • 2021 Annual Research Report
  • 2020 Annual Research Report
  • Research Products

    (21 results)

All 2022 2021 2020 Other

All Int'l Joint Research (3 results) Journal Article (9 results) (of which Int'l Joint Research: 6 results,  Peer Reviewed: 9 results,  Open Access: 6 results) Presentation (7 results) (of which Int'l Joint Research: 7 results) Remarks (2 results)

  • [Int'l Joint Research] レディング大学(英国)

    • Related Report
      2022 Annual Research Report
  • [Int'l Joint Research] レディング大学(英国)

    • Related Report
      2021 Annual Research Report
  • [Int'l Joint Research] レディング大学/アバーディーン(英国)

    • Related Report
      2020 Annual Research Report
  • [Journal Article] Cerebral Activity-Based Quantitative Evaluation for Attention Levels2022

    • Author(s)
      Niiyama Saki、Yano Shiro、Kondo Toshiyuki
    • Journal Title

      Journal of Robotics and Mechatronics

      Volume: 34 Issue: 4 Pages: 739-745

    • DOI

      10.20965/jrm.2022.p0739

    • ISSN
      0915-3942, 1883-8049
    • Year and Date
      2022-08-20
    • Related Report
      2022 Annual Research Report 2021 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] Olfactory Cues to Reduce Retrograde Interference During the Simultaneous Learning of Conflicting Motor Tasks2022

    • Author(s)
      Matsuda Eiko, Misawa Daichi, Yano Shiro, Kondo Toshiyuki
    • Journal Title

      Journal of Robotics and Mechatronics

      Volume: 34 Issue: 4 Pages: 746-755

    • DOI

      10.20965/jrm.2022.p0746

    • ISSN
      0915-3942, 1883-8049
    • Year and Date
      2022-08-20
    • Related Report
      2022 Annual Research Report 2021 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] Estimation of Dynamic Structure underlying Brain Activities and its Constructive Modeling2022

    • Author(s)
      近藤 敏之
    • Journal Title

      Journal of The Society of Instrument and Control Engineers

      Volume: 61 Issue: 4 Pages: 276-281

    • DOI

      10.11499/sicejl.61.276

    • ISSN
      0453-4662, 1883-8170
    • Year and Date
      2022-04-10
    • Related Report
      2022 Annual Research Report
    • Peer Reviewed / Open Access
  • [Journal Article] Ring-shaped wearable device for logging finger usage in daily life2022

    • Author(s)
      Yamamoto Naoya、Matsumoto Takato、Sudo Tamami、Miyashita Megumi、Kondo Toshiyuki
    • Journal Title

      Proceedings of the 2022 International Symposium on Micro-NanoMehatronics and Human Science (MHS)

      Volume: - Pages: 1-6

    • DOI

      10.1109/mhs56725.2022.10092178

    • Related Report
      2022 Annual Research Report
    • Peer Reviewed
  • [Journal Article] Cooperative visuomotor learning experience with peer enhances adaptability to others2021

    • Author(s)
      Nishimura Kotaro、Saracbasi Ozge Ozlem、Hayashi Yoshikatsu、Kondo Toshiyuki
    • Journal Title

      Advanced Robotics

      Volume: 35 Issue: 13-14 Pages: 835-841

    • DOI

      10.1080/01691864.2021.1913445

    • Related Report
      2021 Annual Research Report 2020 Annual Research Report
    • Peer Reviewed / Int'l Joint Research
  • [Journal Article] Enhanced Visual Feedback Using Immersive VR Affects Decision Making Regarding Hand Use With a Simulated Impaired Limb2021

    • Author(s)
      Sakabe Naoko、Altukhaim Samirah、Hayashi Yoshikatsu、Sakurada Takeshi、Yano Shiro、Kondo Toshiyuki
    • Journal Title

      Frontiers in Human Neuroscience

      Volume: 15

    • DOI

      10.3389/fnhum.2021.677578

    • Related Report
      2021 Annual Research Report 2020 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] Mutual Skill Learning and Adaptability to Others via Haptic Interaction2021

    • Author(s)
      Saracbasi Ozge Ozlem、Harwin William、Kondo Toshiyuki、Hayashi Yoshikatsu
    • Journal Title

      Frontiers in Neurorobotics

      Volume: 15

    • DOI

      10.3389/fnbot.2021.760132

    • Related Report
      2021 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Journal Article] Human–Robot Cooperative Motor Learning2020

    • Author(s)
      Kondo Toshiyuki、Hayashi Yoshikatsu
    • Journal Title

      Journal of the Robotics Society of Japan

      Volume: 38 Issue: 10 Pages: 895-900

    • DOI

      10.7210/jrsj.38.895

    • NAID

      130007967867

    • ISSN
      0289-1824, 1884-7145
    • Related Report
      2020 Annual Research Report
    • Peer Reviewed
  • [Journal Article] EEG dynamical network analysis method reveals the neural signature of visual-motor coordination2020

    • Author(s)
      Li Xinzhe、Mota Bruno、Kondo Toshiyuki、Nasuto Slawomir、Hayashi Yoshikatsu
    • Journal Title

      PLOS ONE

      Volume: 15 Issue: 5 Pages: e0231767-e0231767

    • DOI

      10.1371/journal.pone.0231767

    • Related Report
      2020 Annual Research Report
    • Peer Reviewed / Open Access / Int'l Joint Research
  • [Presentation] Dual Instability against to Sequential Learning via Haptic Interaction2022

    • Author(s)
      Ozge Ozlem Saracbasi, William Seymour Harwin, Toshiyuki Kondo, Yoshikatsu Hayashi
    • Organizer
      The 44th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS)
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Enhancement of Sense of Ownership and Sense of Agency using Virtual Reality and Haptic Feedback2022

    • Author(s)
      Samirah Altukhaim, Toshiyuki Kondo, Yoshikatsu Hayashi
    • Organizer
      The 44th Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS)
    • Related Report
      2022 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Effects of visual feedback on event-related desynchronization during isometric grasping2021

    • Author(s)
      Kosei Nakayashiki, Yoshikatsu Hayashi, Tamami Sudo, Toshiyuki Kondo
    • Organizer
      The 43rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS)
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Collective Almost Synchronization Modeling Used for Motor Imagery EEG Classification2021

    • Author(s)
      Nguyen Thi Mai Phuong, Minh Khanh Phan, Yoshikatsu Hayashi, Murilo Baptista, Toshiyuki Kondo
    • Organizer
      The 43rd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS)
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] How Does Intervening Strategy in Cooperative Motor Task Affect Individual Motor Adaptation?2020

    • Author(s)
      Yuya Yoshikawa, Yoshikatsu Hayashi, Shiro Yano, and Toshiyuki Kondo
    • Organizer
      he 42nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS)
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Identification of the Cerebral Region Responsible for Top-Down Attention Using Near-Infrared Spectroscopy Signal2020

    • Author(s)
      Saki Niiyama, Shiro Yano, and Toshiyuki Kondo
    • Organizer
      he 42nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS)
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Presentation] Extraction of graphical structure embedded in human periodic motions2020

    • Author(s)
      Kosuke Sakai, Shiro Yano, and Toshiyuki Kondo
    • Organizer
      he 42nd Annual International Conference of the IEEE Engineering in Medicine and Biology Society (EMBS)
    • Related Report
      2020 Annual Research Report
    • Int'l Joint Research
  • [Remarks] 東京農工大学近藤研究室ホームページ

    • URL

      https://www.livingsyslab.org/

    • Related Report
      2022 Annual Research Report 2021 Annual Research Report
  • [Remarks] Biologically-inspired Computing Laboratory

    • URL

      https://www.livingsyslab.org

    • Related Report
      2020 Annual Research Report

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Published: 2020-04-28   Modified: 2024-01-30  

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